CN118688840A - Vehicle positioning method, device, electronic equipment and medium - Google Patents

Abstract

The present application provides a vehicle positioning method, device, electronic device and medium. The method includes: receiving a positioning request sent by a first vehicle; performing relay positioning processing according to the positioning request; the relay positioning processing includes: if the own vehicle has absolute positioning capability, obtaining the positioning information of the own vehicle based on absolute positioning technology; if the own vehicle does not have absolute positioning capability, sending positioning requests to other vehicles within a predetermined range around it until the positioning information of the other vehicles returned by the other vehicles is received, and obtaining the positioning information of the own vehicle according to the positioning information of the other vehicles; returning the positioning information of the own vehicle to the first vehicle, so that the first vehicle can be positioned according to the positioning information. The method of the present application solves the problem of difficulty in positioning vehicles in blind spots.

Description

Vehicle positioning method, device, electronic equipment and medium

Technical Field

The present application relates to the field of intelligent driving technology, and in particular to a vehicle positioning method, device, electronic device and medium.

Background Art

Vehicle positioning is an important auxiliary function for people's daily driving and is also one of the components of intelligent driving. However, during the driving process, the vehicle often enters the positioning blind spot, which makes it difficult to locate the vehicle. For example, most cars on the market currently use the global navigation satellite system for absolute positioning, but the global navigation satellite system positioning requires that the vehicle antenna can receive satellite signals in the air. In the actual environment, there are often scenes such as underground parking lots, tunnels, high-rise buildings or bridges, which make it impossible for vehicles in the blind spot to obtain satellite signals in the air in real time, affecting the positioning function and corresponding services.

In the above solution, the vehicle is directly positioned based on the absolute positioning technology, which causes the problem that vehicles in blind spots are difficult to locate.

Summary of the invention

The present application provides a vehicle positioning method, device, electronic device and medium to solve the problem of difficulty in positioning vehicles in blind spots.

On the one hand, the present application provides a vehicle positioning method, comprising:

receiving a positioning request sent by the first vehicle;

According to the positioning request, a relay positioning process is performed; the relay positioning process includes: if the own vehicle has an absolute positioning capability, the positioning information of the own vehicle is obtained based on the absolute positioning technology; if the own vehicle does not have an absolute positioning capability, a positioning request is sent to other vehicles within a predetermined range around the own vehicle until the positioning information of the other vehicle returned by the other vehicle is received, and the positioning information of the own vehicle is obtained according to the positioning information of the other vehicle;

The positioning information of the own vehicle is returned to the first vehicle, so that the first vehicle is positioned according to the positioning information.

Optionally, the positioning information of the other vehicles includes position information of the other vehicles; sending positioning requests to other vehicles within a predetermined surrounding range until receiving the positioning information of the other vehicles returned by the other vehicles, and obtaining the positioning information of the own vehicle according to the positioning information of the other vehicles, includes:

Controlling the positioning tag of the own vehicle to be in a receiving state, and sending positioning requests to other vehicles within a predetermined range around, so that the other vehicles control the positioning tags of the other vehicles to be in a broadcasting state;

Selecting a first positioning tag from the positioning tags of the other vehicles, and obtaining a relative position between the positioning tag of the own vehicle and the first positioning tag according to a signal sent by the first positioning tag;

The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the tags.

Optionally, the selecting a first positioning tag from the positioning tags of the other vehicles includes:

Among the positioning tags of the other vehicles, the positioning tag whose signal is first received by the positioning tag of the own vehicle is determined as the first positioning tag.

Optionally, obtaining the relative position of the positioning tag of the own vehicle and the first positioning tag according to the signal sent by the first positioning tag includes:

Receiving the signal sent by the first positioning tag through at least three positioning tags of the own vehicle; and obtaining the signal strength and/or flight time parameters of the signal corresponding to the at least three positioning tags, and obtaining the relative position between the positioning tag of the own vehicle and the first positioning tag based on the three-point positioning principle according to the signal strength and/or the flight time parameters;

Alternatively, a signal emitted by the first positioning tag is received by a positioning tag of the own vehicle; and a receiving angle at which the positioning tag receives the signal is obtained, and based on the receiving angle, a relative position between the positioning tag of the own vehicle and the first positioning tag is obtained.

Optionally, the positioning information of the other vehicle also includes a relative position between a corresponding positioning point of the positioning information of the other vehicle and the first positioning tag; and obtaining the positioning information of the own vehicle according to the positioning information of the other vehicle and the relative position of the tag includes:

Obtaining the position information of the first positioning tag according to the relative position between the positioning point of the other vehicle and the first positioning tag and the position information of the other vehicles;

Obtaining the position information of the own vehicle positioning tag according to the position information of the first positioning tag and the relative position of the tag;

The position information of the own vehicle positioning point is obtained according to the position information of the own vehicle positioning tag and the relative position between the own vehicle positioning tag and the own vehicle positioning point.

Optionally, the positioning information of the own vehicle includes the relative position of the positioning tag of the own vehicle and the positioning point of the own vehicle and the position information of the positioning point of the own vehicle, and the method further includes:

Control the positioning tag of the own vehicle to be in a broadcast state so that the first vehicle obtains the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle according to the signal sent by the positioning tag of the own vehicle, and performs positioning according to the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle and the positioning information of the own vehicle.

Optionally, the positioning information of the other vehicles includes position information of the other vehicles; sending positioning requests to other vehicles within a predetermined surrounding range until receiving the positioning information of the other vehicles returned by the other vehicles, and obtaining the positioning information of the own vehicle according to the positioning information of the other vehicles, includes:

Sending a positioning request to other vehicles within a predetermined range of the surrounding area through the controller of the own vehicle, and receiving a response returned by the controller of the other vehicle;

Based on the response message, obtaining a relative position between the own vehicle and the other vehicle;

The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the vehicle.

Optionally, the position information of the other vehicles is obtained by the other vehicles based on absolute positioning technology; or, the position information of the other vehicles is obtained by the other vehicles based on positioning information returned by vehicles within a predetermined surrounding range.

On the other hand, the present application provides a vehicle positioning device, comprising:

A receiving module, used for receiving a positioning request sent by the first vehicle;

A positioning module, configured to perform relay positioning processing according to the positioning request; the relay positioning processing includes: if the own vehicle has absolute positioning capability, obtaining the positioning information of the own vehicle based on the absolute positioning technology; if the own vehicle does not have absolute positioning capability, sending positioning requests to other vehicles within a predetermined range around it until the positioning information of the other vehicles returned by the other vehicles is received, and obtaining the positioning information of the own vehicle according to the positioning information of the other vehicles;

The sending module is used to return the positioning information of the own vehicle to the first vehicle, so that the first vehicle can be positioned according to the positioning information.

Optionally, the positioning information of the other vehicles includes position information of the other vehicles; the positioning module is specifically used to:

Controlling the positioning tag of the own vehicle to be in a receiving state, and sending positioning requests to other vehicles within a predetermined range around, so that the other vehicles control the positioning tags of the other vehicles to be in a broadcasting state;

Selecting a first positioning tag from the positioning tags of the other vehicles, and obtaining a relative position between the positioning tag of the own vehicle and the first positioning tag according to a signal sent by the first positioning tag;

The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the tags.

Optionally, the positioning module is further specifically used for:

Among the positioning tags of the other vehicles, the positioning tag whose signal is first received by the positioning tag of the own vehicle is determined as the first positioning tag.

Optionally, the positioning module is further specifically used for:

Receiving the signal sent by the first positioning tag through at least three positioning tags of the own vehicle; and obtaining the signal strength and/or flight time parameters of the signal corresponding to the at least three positioning tags, and obtaining the relative position between the positioning tag of the own vehicle and the first positioning tag based on the three-point positioning principle according to the signal strength and/or the flight time parameters;

Alternatively, a signal emitted by the first positioning tag is received by a positioning tag of the own vehicle; and a receiving angle at which the positioning tag receives the signal is obtained, and based on the receiving angle, a relative position between the positioning tag of the own vehicle and the first positioning tag is obtained.

Optionally, the positioning information of the other vehicles further includes the relative position between the corresponding positioning point of the positioning information of the other vehicles and the first positioning tag; the positioning module is further specifically used for:

Obtaining the position information of the first positioning tag according to the relative position between the positioning point of the other vehicle and the first positioning tag and the position information of the other vehicles;

Obtaining the position information of the own vehicle positioning tag according to the position information of the first positioning tag and the relative position of the tag;

The position information of the own vehicle positioning point is obtained according to the position information of the own vehicle positioning tag and the relative position between the own vehicle positioning tag and the own vehicle positioning point.

Optionally, the positioning information of the own vehicle includes the relative position of the positioning tag of the own vehicle and the positioning point of the own vehicle and the position information of the positioning point of the own vehicle, and the device further includes:

A control module is used to control the positioning tag of the own vehicle to be in a broadcast state, so that the first vehicle obtains the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle according to the signal sent by the positioning tag of the own vehicle, and performs positioning according to the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle and the positioning information of the own vehicle.

Optionally, the positioning information of the other vehicles includes position information of the other vehicles; and the positioning module is further specifically used for:

Sending a positioning request to other vehicles within a predetermined range of the surrounding area through the controller of the own vehicle, and receiving a response returned by the controller of the other vehicle;

Based on the response message, obtaining a relative position between the own vehicle and the other vehicle;

The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the vehicle.

Optionally, the position information of the other vehicles is obtained by the other vehicles based on absolute positioning technology; or, the position information of the other vehicles is obtained by the other vehicles based on positioning information returned by vehicles within a predetermined surrounding range.

On the other hand, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method described above.

On the other hand, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method as described above.

In the vehicle positioning method, device, electronic device and medium provided by the present application, a positioning request sent by a first vehicle is received; according to the positioning request, a relay positioning process is performed; the relay positioning process includes: if the own vehicle has absolute positioning capability, the positioning information of the own vehicle is obtained based on the absolute positioning technology; if the own vehicle does not have absolute positioning capability, a positioning request is sent to other vehicles within a predetermined range of the surrounding area until the positioning information of the other vehicles returned by the other vehicles is received, and the positioning information of the own vehicle is obtained according to the positioning information of the other vehicles; the positioning information of the own vehicle is returned to the first vehicle, so that the first vehicle is positioned according to the positioning information. Through communication between vehicles, the first vehicle that cannot be directly positioned can be positioned according to the positioning information of the own vehicle, and when the first vehicle cannot search for a vehicle with absolute positioning capability, the own vehicle can also send a positioning request to the surrounding area, and obtain the positioning information of the own vehicle through vehicle collaborative positioning, until the vehicles participating in the vehicle collaborative positioning search for a vehicle with absolute positioning capability, thereby effectively solving the problem of difficulty in positioning vehicles in blind spots.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

FIG1 is a schematic diagram showing a scenario of blind spot vehicle positioning;

FIG2 is a flow chart showing a vehicle positioning method according to the first embodiment of the present application;

FIG3 exemplarily shows a scene example diagram of vehicle collaborative positioning provided in Embodiment 1 of the present application;

FIG4 is a schematic diagram of a process flow of vehicle collaborative positioning provided in Embodiment 1 of the present application;

FIG5 exemplarily shows a scene example diagram of obtaining the relative position of tags provided in Embodiment 1 of the present application;

FIG6 is a schematic diagram showing a three-point positioning method for calculating the relative position of tags provided in Embodiment 1 of the present application;

FIG7 is a schematic diagram showing another three-point positioning method for calculating the relative positions of tags provided in Embodiment 1 of the present application;

FIG8 is a schematic diagram showing the relative position of the angle measurement and distance calculation tags provided in the first embodiment of the present application;

FIG9 exemplarily shows an example diagram of obtaining the own vehicle positioning information provided in Embodiment 1 of the present application;

FIG10 exemplarily shows a schematic structural diagram of a vehicle positioning device provided in Embodiment 2 of the present application;

FIG11 is a schematic diagram showing the structure of a vehicle positioning electronic device provided in Embodiment 3 of the present application.

The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments.

DETAILED DESCRIPTION

Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

The module in this application refers to a functional module or a logic module. It can be in the form of software, where the processor executes program code to realize its function, or it can be in the form of hardware.

Most cars on the market today use the global navigation satellite system for absolute positioning. However, global navigation satellite system positioning requires that the vehicle antenna be able to receive satellite signals in the air, and in the actual environment, there are often scenes such as underground parking lots, tunnels, high-rise buildings or bridges that block the view, resulting in the inability of vehicles in blind spots to obtain satellite signals in the air in real time, affecting the positioning function and corresponding services. Figure 1 is a schematic diagram of the blind spot vehicle positioning scenario provided by this application. As shown in Figure 1, under the obstruction of high-rise buildings, vehicles in the blind spots cannot receive satellite signals from the global navigation satellite system, making it difficult to locate.

The technical solution of the present application is illustrated below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Embodiment 1

FIG2 is a flow chart of a vehicle positioning method provided by an embodiment of the present application. As shown in FIG2 , the vehicle positioning method provided by this embodiment may include:

S201, receiving a positioning request sent by a first vehicle;

S202, performing relay positioning processing according to the positioning request; the relay positioning processing includes: if the own vehicle has absolute positioning capability, obtaining the positioning information of the own vehicle based on the absolute positioning technology; if the own vehicle does not have absolute positioning capability, sending positioning requests to other vehicles within a predetermined range around, until receiving the positioning information of the other vehicles returned by the other vehicles, and obtaining the positioning information of the own vehicle according to the positioning information of the other vehicles;

S203: Return the positioning information of the own vehicle to the first vehicle, so that the first vehicle can perform positioning according to the positioning information.

In practical applications, the executor of this embodiment may be a vehicle positioning device, which may be implemented through a computer program, such as application software, etc.; or, it may be implemented as a medium storing relevant computer programs, such as a USB flash drive, a cloud disk, etc.; or, it may be implemented through a physical device integrated or installed with relevant computer programs, such as a chip, a server, etc.

When the first vehicle cannot directly locate its own position, vehicle collaborative positioning can be performed. Specifically, the first vehicle sends a positioning request to a predetermined range around it, and after receiving the positioning request, the vehicle positioning device of the second vehicle performs relay positioning processing and returns the positioning information of the second vehicle to the first vehicle, so that the first vehicle can be positioned according to the positioning information of the second vehicle.

The first vehicle is not necessarily the first vehicle to send a positioning request. The first vehicle may also receive a positioning request from a previous vehicle, but does not have the absolute positioning capability of the vehicle, and thus initiates a positioning request around the first vehicle.

Among them, the relay positioning processing includes: if the second vehicle has absolute positioning capability, the vehicle positioning device of the second vehicle obtains its own positioning information based on absolute positioning technology, wherein the absolute positioning technology may include positioning technology based on electronic signals, such as mobile communications, Global Navigation Satellite System (GNSS), Ultra Wide Band (UWB) ground radio positioning technology, Wi-Fi, etc.; it may also include positioning technology based on environmental feature matching, such as laser radar-based positioning and mapping technology, visual sensor-based positioning and mapping technology; it may also include positioning technology based on track calculation, such as inertial navigation technology, odometer technology; it may also include combined positioning technology, which is not limited here.

If the second vehicle does not have absolute positioning capability, for example, the second vehicle is in a positioning blind spot and cannot receive GNSS satellite signals, the vehicle positioning device of the second vehicle sends a positioning request to a predetermined surrounding range. After receiving the positioning request, the vehicle positioning device of the third vehicle performs relay positioning processing and returns the positioning information of the third vehicle to the second vehicle, so that the vehicle positioning device of the second vehicle can perform positioning according to the positioning information of the third vehicle.

The position information of the other vehicles is obtained by the other vehicles based on absolute positioning technology; or, the position information of the other vehicles is obtained by the other vehicles based on positioning information returned by vehicles within a predetermined surrounding range.

When the third vehicle has the absolute positioning capability, the vehicle positioning device obtains the positioning information of the third vehicle based on the absolute positioning technology; when the third vehicle does not have the absolute positioning capability, a positioning request is sent to the fourth vehicle for collaborative positioning, and so on, until the vehicle positioning device of the vehicle with the absolute positioning capability receives the positioning request of the previous vehicle, thereby realizing the positioning of the first vehicle through step-by-step relay positioning.

FIG3 is a scene example diagram of vehicle collaborative positioning provided by an embodiment of the present application, and FIG4 is a flow chart of vehicle collaborative positioning provided by an embodiment of the present application. As shown in FIG3 and FIG4, vehicle C1 cannot directly obtain the positioning information of its own vehicle through absolute positioning, and the vehicle positioning device of vehicle C1 sends a positioning request to the surrounding area. There are no vehicles with absolute positioning capabilities within the signal range around vehicle C1, and the vehicle positioning device of vehicle C2 that does not have absolute positioning capabilities around vehicle C1 receives the positioning request sent by vehicle C1 and sends a positioning request to the surrounding area of vehicle C2. The vehicle positioning device of vehicle C3 which does not have the absolute positioning capability around vehicle C2 receives the positioning request sent by vehicle C2, and sends a positioning request to the surrounding of C3, until the vehicle positioning device of vehicle Cn which has the absolute positioning capability receives the positioning request sent by vehicle Cn-1, obtains the positioning information of vehicle Cn based on the absolute positioning technology and returns it to vehicle Cn-1, the vehicle positioning device of vehicle Cn-1 performs positioning according to the positioning information of vehicle Cn, obtains the positioning information of vehicle Cn-1 and returns it to vehicle Cn-2, and so on until the vehicle positioning device of vehicle C1 performs positioning according to the positioning information of vehicle C2 returned by vehicle C2, and finally obtains the positioning information of vehicle C1. In practical applications, n≥2, and the specific size is not limited.

In one example, the positioning information of the other vehicles includes the position information of the other vehicles, and S202 may include:

Controlling the positioning tag of the own vehicle to be in a receiving state, and sending positioning requests to other vehicles within a predetermined range around, so that the other vehicles control the positioning tags of the other vehicles to be in a broadcasting state;

Selecting a first positioning tag from the positioning tags of the other vehicles, and obtaining a relative position between the positioning tag of the own vehicle and the first positioning tag according to a signal sent by the first positioning tag;

The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the tags.

Specifically, after receiving a positioning request, the vehicle positioning device of a vehicle that does not have absolute positioning capability controls the positioning tag on its own vehicle to be in a receiving state, and sends a positioning request to other surrounding vehicles, so that other vehicles control the positioning tags on their vehicles to be in a broadcast state, send positioning signals, and make the positioning tag of its own vehicle receive the positioning signal, thereby obtaining the relative position between the positioning tag of its own vehicle and the positioning tags of other vehicles based on the positioning signals sent by the positioning tags of other vehicles.

Among them, other vehicles may have more than one positioning tag. In order to reduce interference, one positioning tag is selected from the positioning tags of other vehicles as the first positioning tag. The relative position of the positioning tag of the own vehicle and the first positioning tag is obtained according to the positioning signal sent by the first positioning tag.

The location information of the own vehicle is obtained based on the location information of other vehicles returned by other vehicles and the relative position of the tags.

FIG5 is an example diagram of a scenario for obtaining the relative position of tags provided in an embodiment of the present application. As shown in FIG5 , vehicle A has four positioning tags, namely 1, 2, 3, and 4, and vehicle B has four positioning tags, namely 5, 6, 7, and 8. After the vehicle positioning device of vehicle A sends a positioning request, tags 1, 2, 3, and 4 are in a receiving state. The vehicle positioning device of vehicle B receives the positioning request, controls tags 5, 6, 7, and 8 to be in a broadcast state, and sends positioning signals to the surrounding area of vehicle B. The vehicle positioning device of vehicle A selects tag 5 as the first positioning tag, and obtains the relative position of the tags according to the positioning signal sent by tag 5 and received by tags 1, 2, 3, and 4.

There are multiple ways to select the first positioning tag. In one example, selecting the first positioning tag from the positioning tags of other vehicles may include:

Among the positioning tags of the other vehicles, the positioning tag whose signal is first received by the positioning tag of the own vehicle is determined as the first positioning tag.

Specifically, according to the positioning signal received by the positioning tag of the own vehicle, the positioning tag corresponding to the positioning signal received for the first time is used as the first positioning tag. Since the communication between vehicles through positioning tags may be blocked, by determining the positioning tag whose signal is first received by the positioning tag of the own vehicle as the first positioning tag, it can be ensured that the first positioning tag can communicate normally with the positioning tag of the own vehicle, and the efficiency of vehicle positioning is improved.

As in the above example, tags 1, 2, 3, and 4 first receive the signal sent by tag 5, and therefore tag 5 is used as the first positioning tag.

In practical applications, there are many ways to obtain the relative position of the tags. In one example, obtaining the relative position of the tags between the positioning tag of the own vehicle and the first positioning tag according to the signal sent by the first positioning tag includes:

Receiving the signal sent by the first positioning tag through at least three positioning tags of the own vehicle; and obtaining the signal strength and/or flight time parameters of the signal corresponding to the at least three positioning tags, and obtaining the relative position between the positioning tag of the own vehicle and the first positioning tag based on the three-point positioning principle according to the signal strength and/or the flight time parameters;

Alternatively, a signal emitted by the first positioning tag is received by a positioning tag of the own vehicle; and a receiving angle at which the positioning tag receives the signal is obtained, and based on the receiving angle, a relative position between the positioning tag of the own vehicle and the first positioning tag is obtained.

Specifically, in combination with the relative positions between the positioning tags of the own vehicle, the signal emitted by the first positioning tag is received by at least three positioning tags of the own vehicle, and the signal strength received by the at least three positioning tags is obtained. According to the quantitative relationship between the signal strength and the distance, the distance between the at least three positioning tags and the first positioning tag is obtained. FIG6 is a schematic diagram of a three-point positioning calculation tag relative position provided by an embodiment of the present application. As shown in FIG6 , a circle is drawn with the at least three positioning tags as the center and the distance between the at least three positioning tags and the first positioning tag as the radius. The intersection area is the position area where the first positioning tag is located, thereby obtaining the relative position of the tags between the at least three positioning tags and the first positioning tag. Alternatively, the time when the signal of the first positioning tag sent by other vehicles and the time when the at least three positioning tags of the own vehicle receive the signal are obtained, so as to obtain the signal flight time corresponding to the at least three positioning tags, and the distance between the at least three positioning tags and the first positioning tag is obtained according to the signal flight time, so as to obtain the tag relative position between the at least three positioning tags and the first positioning tag; or, after the at least three positioning tags of the own vehicle receive the signal sent by the first positioning tag, they are controlled to return the first positioning tag signal, obtain the signal two-way flight time between the at least three positioning tags and the first positioning tag, and calculate the average value of the one-way flight time to reduce the time offset, and obtain the distance between the at least three positioning tags and the first positioning tag according to the signal flight time, so as to obtain the tag relative position between the at least three positioning tags and the first positioning tag; or, FIG. 7 is a schematic diagram of another three-point positioning calculation tag relative position provided by an embodiment of the present application. As shown in FIG. 7, the time difference when the at least three positioning tags of the own vehicle receive the signal sent by the first positioning tag is obtained, so as to obtain the distance difference between the at least three positioning tags of the own vehicle and the first positioning tag, and the tag relative position between the at least three positioning tags and the first positioning tag is obtained by establishing a hyperbolic equation group.

Alternatively, FIG8 is a schematic diagram of an embodiment of the present application for calculating the relative position of an angle measurement tag. As shown in FIG8, the phase of the signal received by the antenna array on a positioning tag of the own vehicle is used to obtain the angle (such as θ1 and θ2) at which the antenna array receives the signal. Combined with the relative position between the antenna arrays, the relative position between the antenna array and the first positioning tag can be obtained. Combined with the relative position between the antenna array and the positioning tag, the relative position of the tags between the positioning tag and the first positioning tag is obtained.

The relative positions of the tags obtained in various ways can reflect the relative positions between the vehicles, so that the first vehicle can be positioned according to the position information of its own vehicle.

The current vehicle can be located by comparing the relative position of the tag with the location information of other vehicles. Since the location tag is not necessarily the location point corresponding to the location information of the vehicle, deviation correction is required. In one example, the location information of the other vehicle also includes the relative position between the corresponding location point of the location information of the other vehicle and the first location tag; the location information of the own vehicle is obtained based on the location information of the other vehicle and the relative position of the tag, including:

Obtaining the position information of the first positioning tag according to the relative position between the positioning point of the other vehicle and the first positioning tag and the position information of the other vehicles;

Obtaining the position information of the own vehicle positioning tag according to the position information of the first positioning tag and the relative position of the tag;

The position information of the own vehicle positioning point is obtained according to the position information of the own vehicle positioning tag and the relative position between the own vehicle positioning tag and the own vehicle positioning point.

Specifically, the position information of the first positioning tag is obtained based on the relative position between the positioning point of other vehicles and the first positioning tag and the position information of other vehicles, thereby removing the deviation between the positioning point of other vehicles and the first positioning tag. The position information of the own vehicle positioning tag is obtained based on the position information of the first positioning tag and the relative position of the tags, and the position information of the own vehicle positioning point is obtained by combining the relative position of the positioning tag of the own vehicle and the positioning point of the own vehicle.

For example, Figure 9 is an example diagram of obtaining the positioning information of the vehicle itself provided by an embodiment of the present application. As shown in Figure 9, assuming that the positioning point of vehicle A as mentioned above is the absolute positioning device a, and the positioning point of vehicle B is the absolute positioning device b, after obtaining the relative positions of tags 1, 2, 3, 4 and tag 5, the position information of tag 5 is obtained according to the position information of vehicle B obtained by the absolute positioning device b and the relative position of tag 5 and the absolute positioning device b; the position information of tag 4 is obtained according to the position information of tag 5 and the relative position of tag 5 and tag 4; the position information of absolute positioning device a is obtained according to the position information of tag 4 and the relative position of tag 4 and the absolute positioning device a, as the positioning information of vehicle A.

In order to locate the first vehicle, the relative position of the positioning tag of the own vehicle and the positioning point of the own vehicle and the position information of the positioning point of the own vehicle, the method further includes:

Control the positioning tag of the own vehicle to be in a broadcast state so that the first vehicle obtains the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle according to the signal sent by the positioning tag of the own vehicle, and performs positioning according to the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle and the positioning information of the own vehicle.

Specifically, after obtaining the positioning information of the own vehicle, the positioning tag of the own vehicle is controlled to be in a broadcast state, and a positioning signal is sent to the surrounding predetermined range, so that the first vehicle can obtain the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle according to the positioning signal, thereby positioning according to the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle, the relative position between the positioning tag of the own vehicle and the positioning point of the own vehicle, and the position information of the positioning point of the own vehicle. By returning information to the first vehicle, the first vehicle is assisted in positioning.

In addition to communicating through positioning tags, other methods may also be used to obtain the relative positions between vehicles. In one example, the positioning information of other vehicles includes the position information of the other vehicles; sending positioning requests to other vehicles within a predetermined range around until the positioning information of the other vehicles returned by the other vehicles is received, and obtaining the positioning information of the own vehicle according to the positioning information of the other vehicles includes:

Sending a positioning request to other vehicles within a predetermined range of the surrounding area through the controller of the own vehicle, and receiving a response returned by the controller of the other vehicle;

Based on the response message, obtaining a relative position between the own vehicle and the other vehicle;

The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the vehicle.

Specifically, by controlling the controller of the own vehicle to send a positioning request to the surrounding, the controllers of other vehicles receive the positioning request and return the positioning signal and the position information of the other vehicle controllers. The relative position between the controller of the own vehicle and the other vehicle controllers is obtained according to the positioning signal, and the positioning information of the controller of the own vehicle is obtained according to the position information of the other vehicle controllers. Combined with the relative position of the controller of the own vehicle and the positioning point of the own vehicle, the position information of the positioning point of the own vehicle is obtained. By using controller communication to obtain vehicle positioning information, the vehicle positioning capability is effectively enhanced.

In the vehicle positioning method provided in this embodiment, a positioning request sent by a first vehicle is received; according to the positioning request, a relay positioning process is performed; the relay positioning process includes: if the own vehicle has absolute positioning capability, the positioning information of the own vehicle is obtained based on the absolute positioning technology; if the own vehicle does not have absolute positioning capability, a positioning request is sent to other vehicles within a predetermined range of the surrounding area until the positioning information of the other vehicles returned by the other vehicles is received, and the positioning information of the own vehicle is obtained according to the positioning information of the other vehicles; the positioning information of the own vehicle is returned to the first vehicle, so that the first vehicle is positioned according to the positioning information. Through communication between vehicles, the first vehicle that cannot be directly positioned can be positioned according to the positioning information of the own vehicle, and when the first vehicle cannot search for a vehicle with absolute positioning capability, the own vehicle can also send a positioning request to the surrounding area, and obtain the positioning information of the own vehicle through vehicle collaborative positioning, until the vehicles participating in the vehicle collaborative positioning search for a vehicle with absolute positioning capability, thereby effectively solving the problem of difficulty in positioning vehicles in blind spots.

Embodiment 2

FIG10 is a schematic diagram of the structure of a vehicle positioning device provided in an embodiment of the present application. As shown in FIG10 , the vehicle positioning device 100 provided in this embodiment may include:

The receiving module 101 is used to receive a positioning request sent by the first vehicle;

The positioning module 102 is used to perform relay positioning processing according to the positioning request; the relay positioning processing includes: if the own vehicle has absolute positioning capability, then obtaining the positioning information of the own vehicle based on the absolute positioning technology; if the own vehicle does not have absolute positioning capability, then sending positioning requests to other vehicles within a predetermined range around, until receiving the positioning information of the other vehicles returned by the other vehicles, and obtaining the positioning information of the own vehicle according to the positioning information of the other vehicles;

The sending module 103 is used to return the positioning information of the own vehicle to the first vehicle, so that the first vehicle can be positioned according to the positioning information.

In practical applications, the vehicle positioning device can be implemented through a computer program, such as application software, etc.; or, it can be implemented as a medium storing relevant computer programs, such as a USB flash drive, a cloud disk, etc.; or, it can be implemented through a physical device integrated or installed with relevant computer programs, such as a chip, a server, etc.

When the first vehicle cannot directly locate its own position, vehicle collaborative positioning can be performed. Specifically, the first vehicle sends a positioning request to a predetermined range around it, and after receiving the positioning request, the vehicle positioning device of the second vehicle performs relay positioning processing and returns the positioning information of the second vehicle to the first vehicle, so that the first vehicle can be positioned according to the positioning information of the second vehicle.

The first vehicle is not necessarily the first vehicle to send a positioning request. The first vehicle may also receive a positioning request from a previous vehicle, but does not have the absolute positioning capability of the vehicle, and thus initiates a positioning request around the first vehicle.

Among them, the relay positioning processing includes: if the second vehicle has absolute positioning capability, the vehicle positioning device of the second vehicle obtains its own positioning information based on absolute positioning technology, wherein the absolute positioning technology may include positioning technology based on electronic signals, such as mobile communications, Global Navigation Satellite System (GNSS), Ultra Wide Band (UWB) ground radio positioning technology, Wi-Fi, etc.; it may also include positioning technology based on environmental feature matching, such as laser radar-based positioning and mapping technology, visual sensor-based positioning and mapping technology; it may also include positioning technology based on track calculation, such as inertial navigation technology, odometer technology; it may also include combined positioning technology, which is not limited here.

If the second vehicle does not have absolute positioning capability, for example, the second vehicle is in a positioning blind spot and cannot receive GNSS satellite signals, the vehicle positioning device of the second vehicle sends a positioning request to a predetermined surrounding range. After receiving the positioning request, the vehicle positioning device of the third vehicle performs relay positioning processing and returns the positioning information of the third vehicle to the second vehicle, so that the vehicle positioning device of the second vehicle can perform positioning according to the positioning information of the third vehicle.

The position information of the other vehicles is obtained by the other vehicles based on absolute positioning technology; or, the position information of the other vehicles is obtained by the other vehicles based on positioning information returned by vehicles within a predetermined surrounding range.

When the third vehicle has the absolute positioning capability, the vehicle positioning device obtains the positioning information of the third vehicle based on the absolute positioning technology; when the third vehicle does not have the absolute positioning capability, a positioning request is sent to the fourth vehicle for collaborative positioning, and so on, until the vehicle positioning device of the vehicle with the absolute positioning capability receives the positioning request of the previous vehicle, thereby realizing the positioning of the first vehicle through step-by-step relay positioning.

In one example, the positioning information of the other vehicles includes the position information of the other vehicles, and the positioning module 102 can be specifically used to:

Controlling the positioning tag of the own vehicle to be in a receiving state, and sending positioning requests to other vehicles within a predetermined range around, so that the other vehicles control the positioning tags of the other vehicles to be in a broadcasting state;

Selecting a first positioning tag from the positioning tags of the other vehicles, and obtaining a relative position between the positioning tag of the own vehicle and the first positioning tag according to a signal sent by the first positioning tag;

The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the tags.

Specifically, after receiving a positioning request, the vehicle positioning device of a vehicle that does not have absolute positioning capability controls the positioning tag on its own vehicle to be in a receiving state, and sends a positioning request to other surrounding vehicles, so that other vehicles control the positioning tags on their vehicles to be in a broadcast state, send positioning signals, and make the positioning tag of its own vehicle receive the positioning signal, thereby obtaining the relative position between the positioning tag of its own vehicle and the positioning tags of other vehicles based on the positioning signals sent by the positioning tags of other vehicles.

Among them, other vehicles may have more than one positioning tag. In order to reduce interference, one positioning tag is selected from the positioning tags of other vehicles as the first positioning tag. The relative position of the positioning tag of the own vehicle and the first positioning tag is obtained according to the positioning signal sent by the first positioning tag.

The location information of the own vehicle is obtained based on the location information of other vehicles returned by other vehicles and the relative position of the tags.

There are many ways to select the first positioning tag. In one example, the positioning module 102 can also be used to:

Among the positioning tags of the other vehicles, the positioning tag whose signal is first received by the positioning tag of the own vehicle is determined as the first positioning tag.

Specifically, according to the positioning signal received by the positioning tag of the own vehicle, the positioning tag corresponding to the positioning signal received for the first time is used as the first positioning tag. Since the communication between vehicles through positioning tags may be blocked, by determining the positioning tag whose signal is first received by the positioning tag of the own vehicle as the first positioning tag, it can be ensured that the first positioning tag can communicate normally with the positioning tag of the own vehicle, and the efficiency of vehicle positioning is improved.

As in the above example, tags 1, 2, 3, and 4 first receive the signal sent by tag 5, and therefore tag 5 is used as the first positioning tag.

In practical applications, there are many ways to obtain the relative position of the tag. In one example, the positioning module 102 can also be used to:

Receiving the signal sent by the first positioning tag through at least three positioning tags of the own vehicle; and obtaining the signal strength and/or flight time parameters of the signal corresponding to the at least three positioning tags, and obtaining the relative position between the positioning tag of the own vehicle and the first positioning tag based on the three-point positioning principle according to the signal strength and/or the flight time parameters;

Alternatively, a signal emitted by the first positioning tag is received by a positioning tag of the own vehicle; and a receiving angle at which the positioning tag receives the signal is obtained, and based on the receiving angle, a relative position between the positioning tag of the own vehicle and the first positioning tag is obtained.

Specifically, in combination with the relative positions between the positioning tags of the own vehicle, the signal emitted by the first positioning tag is received by at least three positioning tags of the own vehicle, and the signal strength received by the at least three positioning tags is obtained. According to the quantitative relationship between signal strength and distance, the distance between the at least three positioning tags and the first positioning tag is obtained. A circle is drawn with the at least three positioning tags as the center and the distance between the at least three positioning tags and the first positioning tag as the radius. The intersecting area is the position area where the first positioning tag is located, thereby obtaining the relative position of the at least three positioning tags and the first positioning tag. Alternatively, the time when the signal of the first positioning tag sent by other vehicles and the time when the at least three positioning tags of the own vehicle receive the signal are obtained, so as to obtain the signal flight time corresponding to the at least three positioning tags, and the distance between the at least three positioning tags and the first positioning tag is obtained according to the signal flight time, so as to obtain the tag relative position between the at least three positioning tags and the first positioning tag; or, after the at least three positioning tags of the own vehicle receive the signal sent by the first positioning tag, they are controlled to return the first positioning tag signal, obtain the signal two-way flight time between the at least three positioning tags and the first positioning tag, and calculate the average value of the one-way flight time to reduce the time offset, and obtain the distance between the at least three positioning tags and the first positioning tag according to the signal flight time, so as to obtain the tag relative position between the at least three positioning tags and the first positioning tag; or, the time difference when the at least three positioning tags of the own vehicle receive the signal sent by the first positioning tag is obtained, so as to obtain the distance difference between the at least three positioning tags of the own vehicle and the first positioning tag, and the tag relative position between the at least three positioning tags and the first positioning tag is obtained by establishing a hyperbolic equation group.

Alternatively, the relative position between the antenna array and the first positioning tag is obtained by detecting the signal reception angle of the signal sent from the first positioning tag by the antenna array on a positioning tag of the own vehicle, or the phase difference of the signal received by the antenna array. Combined with the relative position between the antenna array and the positioning tag, the relative position of the positioning tag and the first positioning tag is obtained.

The relative positions of the tags obtained in various ways can reflect the relative positions between the vehicles, so that the first vehicle can be positioned according to the position information of its own vehicle.

The current vehicle can be located by the relative position of the tag and the location information of other vehicles. Since the positioning tag is not necessarily the positioning point corresponding to the vehicle's location information, correction is required. In one example, the positioning module 102 can also be used to:

Obtaining the position information of the first positioning tag according to the relative position between the positioning point of the other vehicle and the first positioning tag and the position information of the other vehicles;

Obtaining the position information of the own vehicle positioning tag according to the position information of the first positioning tag and the relative position of the tag;

The position information of the own vehicle positioning point is obtained according to the position information of the own vehicle positioning tag and the relative position between the own vehicle positioning tag and the own vehicle positioning point.

Specifically, the position information of the first positioning tag is obtained based on the relative position between the positioning point of other vehicles and the first positioning tag and the position information of other vehicles, thereby removing the deviation between the positioning point of other vehicles and the first positioning tag. The position information of the own vehicle positioning tag is obtained based on the position information of the first positioning tag and the relative position of the tags, and the position information of the own vehicle positioning point is obtained by combining the relative position of the positioning tag of the own vehicle and the positioning point of the own vehicle.

In order to locate the first vehicle, the relative position of the positioning tag of the own vehicle and the positioning point of the own vehicle and the position information of the positioning point of the own vehicle, the device also includes a second positioning module, which can be used to:

Control the positioning tag of the own vehicle to be in a broadcast state so that the first vehicle obtains the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle according to the signal sent by the positioning tag of the own vehicle, and performs positioning according to the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle and the positioning information of the own vehicle.

Specifically, after obtaining the positioning information of the own vehicle, the positioning tag of the own vehicle is controlled to be in a broadcast state, and a positioning signal is sent to the surrounding predetermined range, so that the first vehicle can obtain the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle according to the positioning signal, thereby positioning according to the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle, the relative position between the positioning tag of the own vehicle and the positioning point of the own vehicle, and the position information of the positioning point of the own vehicle. By returning information to the first vehicle, the first vehicle is assisted in positioning.

In addition to communicating through positioning tags, other methods may also be used to obtain the relative positions between vehicles. In one example, the positioning module 102 may also be used to:

Sending a positioning request to other vehicles within a predetermined range of the surrounding area through the controller of the own vehicle, and receiving a response returned by the controller of the other vehicle;

Based on the response message, obtaining a relative position between the own vehicle and the other vehicle;

The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the vehicle.

Specifically, by controlling the controller of the own vehicle to send a positioning request to the surrounding, the controllers of other vehicles receive the positioning request and return the positioning signal and the position information of the other vehicle controllers. The relative position between the controller of the own vehicle and the other vehicle controllers is obtained according to the positioning signal, and the positioning information of the controller of the own vehicle is obtained according to the position information of the other vehicle controllers. Combined with the relative position of the controller of the own vehicle and the positioning point of the own vehicle, the position information of the positioning point of the own vehicle is obtained. By using controller communication to obtain vehicle positioning information, the vehicle positioning capability is effectively enhanced.

In the vehicle positioning device provided in this embodiment, a positioning request sent by the first vehicle is received; according to the positioning request, a relay positioning process is performed; the relay positioning process includes: if the own vehicle has the absolute positioning capability, the positioning information of the own vehicle is obtained based on the absolute positioning technology; if the own vehicle does not have the absolute positioning capability, a positioning request is sent to other vehicles within a predetermined range of the surrounding area until the positioning information of the other vehicles returned by the other vehicles is received, and the positioning information of the own vehicle is obtained according to the positioning information of the other vehicles; the positioning information of the own vehicle is returned to the first vehicle, so that the first vehicle is positioned according to the positioning information. Through communication between vehicles, the first vehicle that cannot be directly positioned can be positioned according to the positioning information of the own vehicle, and when the first vehicle cannot search for a vehicle with absolute positioning capability, the own vehicle can also send a positioning request to the surrounding area, and obtain the positioning information of the own vehicle through vehicle collaborative positioning, until the vehicles participating in the vehicle collaborative positioning search for a vehicle with absolute positioning capability, thereby effectively solving the problem of difficulty in positioning vehicles in blind spots.

Embodiment 3

FIG11 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. As shown in FIG11 , the electronic device includes:

The electronic device includes a processor 291 and a memory 292; it may also include a communication interface 293 and a bus 294. The processor 291, the memory 292, and the communication interface 293 may communicate with each other through the bus 294. The communication interface 293 may be used for information transmission. The processor 291 may call the logic instructions in the memory 292 to execute the method of the above embodiment.

In addition, the logic instructions in the above-mentioned memory 292 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

The memory 292 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 291 executes functional applications and data processing by running the software programs, instructions, and modules stored in the memory 292, that is, implementing the methods in the above method embodiments.

The memory 292 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 292 may include a high-speed random access memory and may also include a non-volatile memory.

An embodiment of the present disclosure provides a non-transitory computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method described in the above embodiment.

Embodiment 4

An embodiment of the present disclosure provides a computer program product, including a computer program. When the computer program is executed by a processor, the method provided in any embodiment of the present disclosure is implemented.

Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims (14)

1. A vehicle positioning method, characterized in that it includes: receiving a positioning request sent by the first vehicle; According to the positioning request, a relay positioning process is performed; the relay positioning process includes: if the own vehicle has an absolute positioning capability, the positioning information of the own vehicle is obtained based on the absolute positioning technology; if the own vehicle does not have an absolute positioning capability, a positioning request is sent to other vehicles within a predetermined range around the vehicle until the positioning information of the other vehicles returned by the other vehicles is received, and the positioning information of the own vehicle is obtained according to the positioning information of the other vehicles; The positioning information of the own vehicle is returned to the first vehicle, so that the first vehicle is positioned according to the positioning information. 2. The method according to claim 1, characterized in that the positioning information of the other vehicles includes the position information of the other vehicles; the sending of positioning requests to other vehicles within a predetermined surrounding range until the positioning information of the other vehicles returned by the other vehicles is received, and the obtaining of the positioning information of the own vehicle according to the positioning information of the other vehicles comprises: Controlling the positioning tag of the own vehicle to be in a receiving state, and sending positioning requests to other vehicles within a predetermined range around, so that the other vehicles control the positioning tags of the other vehicles to be in a broadcasting state; Selecting a first positioning tag from the positioning tags of the other vehicles, and obtaining a relative position between the positioning tag of the own vehicle and the first positioning tag according to a signal sent by the first positioning tag; The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the tags. 3. The method according to claim 2, characterized in that the selecting the first positioning tag from the positioning tags of the other vehicles comprises: Among the positioning tags of the other vehicles, the positioning tag whose signal is first received by the positioning tag of the own vehicle is determined as the first positioning tag. 4. The method according to claim 2, characterized in that the step of obtaining the relative position between the positioning tag of the own vehicle and the first positioning tag according to the signal emitted by the first positioning tag comprises: Receiving the signal sent by the first positioning tag through at least three positioning tags of the own vehicle; and obtaining the signal strength and/or flight time parameters of the signal corresponding to the at least three positioning tags, and obtaining the relative position between the positioning tag of the own vehicle and the first positioning tag based on the three-point positioning principle according to the signal strength and/or the flight time parameters; Alternatively, a signal emitted by the first positioning tag is received by a positioning tag of the own vehicle; and a receiving angle at which the positioning tag receives the signal is obtained, and based on the receiving angle, a relative position between the positioning tag of the own vehicle and the first positioning tag is obtained. 5. The method according to claim 2, characterized in that the positioning information of the other vehicles also includes the relative position between the corresponding positioning point of the positioning information of the other vehicles and the first positioning tag; the obtaining the positioning information of the own vehicle according to the positioning information of the other vehicles and the relative position of the tag comprises: Obtaining the position information of the first positioning tag according to the relative position between the positioning point of the other vehicle and the first positioning tag and the position information of the other vehicles; Obtaining the position information of the own vehicle positioning tag according to the position information of the first positioning tag and the relative position of the tag; The position information of the own vehicle positioning point is obtained according to the position information of the own vehicle positioning tag and the relative position between the own vehicle positioning tag and the own vehicle positioning point. 6. The method according to claim 5, characterized in that the positioning information of the own vehicle includes the relative position of the positioning tag of the own vehicle and the positioning point of the own vehicle and the position information of the positioning point of the own vehicle, and the method further comprises: Control the positioning tag of the own vehicle to be in a broadcast state so that the first vehicle obtains the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle according to the signal sent by the positioning tag of the own vehicle, and performs positioning according to the relative position between the positioning tag of the first vehicle and the positioning tag of the own vehicle and the positioning information of the own vehicle. 7. The method according to claim 1, characterized in that the positioning information of the other vehicles includes the position information of the other vehicles; the sending of positioning requests to other vehicles within a predetermined surrounding range until the positioning information of the other vehicles returned by the other vehicles is received, and obtaining the positioning information of the own vehicle according to the positioning information of the other vehicles comprises: Sending a positioning request to other vehicles within a predetermined range of the surrounding area through the controller of the own vehicle, and receiving a response returned by the controller of the other vehicle; Based on the response message, obtaining a relative position between the own vehicle and the other vehicle; The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the vehicle. 8. The method according to any one of claims 1-7 is characterized in that the position information of the other vehicles is obtained by the other vehicles based on absolute positioning technology; or, the position information of the other vehicles is obtained by the other vehicles based on positioning information returned by vehicles within a predetermined surrounding range. 9. A vehicle positioning device, characterized by comprising: A receiving module, used for receiving a positioning request sent by the first vehicle; A positioning module, configured to perform relay positioning processing according to the positioning request; the relay positioning processing includes: if the own vehicle has absolute positioning capability, obtaining the positioning information of the own vehicle based on the absolute positioning technology; if the own vehicle does not have absolute positioning capability, sending positioning requests to other vehicles within a predetermined range around it until the positioning information of the other vehicles returned by the other vehicles is received, and obtaining the positioning information of the own vehicle according to the positioning information of the other vehicles; The sending module is used to return the positioning information of the own vehicle to the first vehicle, so that the first vehicle can be positioned according to the positioning information. 10. The device according to claim 9, characterized in that the positioning information of the other vehicles includes the position information of the other vehicles; and the positioning module is specifically used to: Controlling the positioning tag of the own vehicle to be in a receiving state, and sending positioning requests to other vehicles within a predetermined range around, so that the other vehicles control the positioning tags of the other vehicles to be in a broadcasting state; Selecting a first positioning tag from the positioning tags of the other vehicles, and obtaining a relative position between the positioning tag of the own vehicle and the first positioning tag according to a signal sent by the first positioning tag; The positioning information of the own vehicle is obtained according to the position information of the other vehicles and the relative position of the tags. 11. The device according to claim 10, characterized in that the positioning module is further specifically used for: Among the positioning tags of the other vehicles, the positioning tag whose signal is first received by the positioning tag of the own vehicle is determined as the first positioning tag. 12. The device according to any one of claims 9-11 is characterized in that the position information of the other vehicles is obtained by the other vehicles based on absolute positioning technology; or, the position information of the other vehicles is obtained by the other vehicles based on positioning information returned by vehicles within a predetermined surrounding range. 13. An electronic device, comprising: a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 8. 14. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 8.